CN112925241A - Automatic response system for opening and closing automobile door and control method - Google Patents
Automatic response system for opening and closing automobile door and control method Download PDFInfo
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- CN112925241A CN112925241A CN202110096477.4A CN202110096477A CN112925241A CN 112925241 A CN112925241 A CN 112925241A CN 202110096477 A CN202110096477 A CN 202110096477A CN 112925241 A CN112925241 A CN 112925241A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- G—PHYSICS
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- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
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- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
- G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- G05B2219/00—Program-control systems
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- G—PHYSICS
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Abstract
The invention discloses an automatic induction system for opening and closing a door of an automobile and a control method, wherein the automatic induction system comprises induction devices, detection devices, a controller and an alarm device, wherein the induction devices are respectively arranged on each door of the automobile and used for inducing the door opening action of drivers and passengers; the detection device is used for detecting the road condition behind the vehicle door; the sensing device and the detection device are respectively and electrically connected with the controller, and the controller is used for receiving and processing door opening action signals of the sensing device and road condition information of the detection device; the alarm device is electrically connected with the controller and used for receiving the alarm instruction of the controller and giving an alarm. The invention provides an automatic response system and a control method for opening and closing a door of an automobile, wherein the door opening action of drivers and passengers is determined through a sensing device, the road condition of the automobile placed behind the automobile is detected through a detection device when the drivers and passengers open the door, and the drivers and passengers are warned when the road condition is abnormal, so that accidents caused by sudden opening of the door when the drivers and passengers do not confirm the rear automobile and pedestrians are effectively avoided.
Description
Technical Field
The invention relates to an automatic response system for opening and closing a door of an automobile and a control method, and belongs to the technical field of induction systems.
Background
At present, along with the improvement of the living standard of people and the development of economy and science and technology, automobiles are important transportation means at present. In the process of daily use of vehicles, people can park on the roadside under various conditions, and in the parking process, drivers and passengers can omit confirmation of rear vehicles and pedestrians, so that sudden opening of the doors is caused, the rear vehicles or the pedestrians can collide with the suddenly opened doors, and further accidents are caused.
Disclosure of Invention
The invention aims to solve the technical problem of overcoming the defects of the prior art and provides an automatic response system and a control method for opening and closing a door of an automobile.
In order to solve the technical problems, the technical scheme of the invention is as follows:
an automatic door opening and closing induction system for an automobile, comprising:
the induction devices are respectively arranged on each door of the automobile and used for inducing the door opening action of drivers and passengers;
the detection device is used for detecting the road condition behind the side of the vehicle door;
the controller is used for receiving and processing door opening action signals of the induction device and road condition information of the detection device;
and the alarm device is electrically connected with the controller and is used for receiving an alarm instruction of the controller and giving an alarm.
Further, the system comprises a vehicle door locking device, the vehicle door locking device is electrically connected with the controller, the vehicle door locking device is used for limiting the maximum opening range of the vehicle door, the vehicle door locking device comprises a door blocking body and a telescopic mechanism fixedly connected with the door blocking body, and the door blocking body is arranged at the hinged position of the vehicle door and the vehicle body.
Further, the system includes the automatic device that closes, close the device and be connected with the controller electricity automatically, close the device automatically and be used for driving the door self-closing when the door is not closed, close the device automatically and include:
the first mounting groove is arranged on a door frame of an automobile and is an open groove body;
the rotating motor is fixedly connected with the automobile body;
the hook-shaped body is fixedly arranged on a rotating shaft of the rotating motor;
the second mounting groove is arranged on the side surface of the vehicle door and corresponds to the first mounting groove;
and the two ends of the connecting column are respectively and fixedly arranged on two side walls of the second mounting groove.
Further, the sensing device includes:
the first sensor is arranged on a handle at the inner side of the vehicle door and is used for detecting the door opening and closing actions of a driver and a passenger when the driver and the passenger get off the vehicle from the inside of the vehicle;
the second sensor is arranged on the handle at the outer side of the vehicle door and is used for detecting the door opening and closing actions of a driver and a passenger when the driver gets on the vehicle from the outside of the vehicle;
a third sensor provided on a door frame for detecting a closed or an unclosed state of a door;
and the fourth sensor is arranged at the hinged position of the vehicle door and the vehicle body and is used for detecting the opening amplitude of the vehicle door.
Further, the detection device includes:
the first camera unit is arranged on the side surface, close to the tail, of the automobile door and used for taking a first picture behind the automobile when the automobile door is opened;
the second camera units are arranged at two sides of the tail of the automobile and are used for shooting a second picture behind the automobile when the automobile door is opened;
and the third camera shooting unit is arranged between the side door and the tail of the automobile and is used for shooting a third picture of the side of the automobile when the automobile door is opened.
A control method of an automatic induction system for opening and closing a door of an automobile comprises the following steps:
when the door opening action is detected through the first sensor or the second sensor, the controller activates the fourth sensor, and the door opening amplitude is detected through the fourth sensor;
when the door opening amplitude is larger than a preset activation amplitude, the controller activates the first camera unit to acquire a first picture;
identifying the first picture based on an image identification technology, and judging whether an object blocks the view of the first camera unit;
when an object blocks the view of the first camera shooting unit, activating the second camera shooting unit and the third camera shooting unit;
acquiring a second picture and a third picture through the second camera unit and the third camera unit, analyzing the second picture and the third picture, determining the number, the moving speed and the vertical distance from the side face of the vehicle body of pedestrians or vehicles behind the vehicle door, and determining that the road condition is abnormal when the number is greater than a preset number value and/or the moving speed is greater than a preset speed value and/or the vertical distance is less than a preset distance value;
when no object blocks the visual field of the first camera unit, the first picture is analyzed, the number, the moving speed and the vertical distance from the side face of the vehicle body of pedestrians or vehicles behind the vehicle door are determined, and when the number is larger than a preset number value and/or the moving speed is larger than a preset speed value and/or the vertical distance is smaller than a preset distance value, the road condition is determined to be abnormal.
Further, when no pedestrian or vehicle is present in the opening area of the automobile door, the controller senses the door opening action of the driver and the passenger;
acquiring a first picture through the first camera unit, inputting the first picture into a preset first neural network model, and acquiring a first road condition identification result;
acquiring a second picture through the second camera unit, inputting the second picture into a preset second neural network model, and acquiring a second road condition identification result;
acquiring a third picture through the third camera unit, inputting the third picture into a preset third neural network model, and acquiring a third road condition identification result;
integrating the first road condition identification result, the second road condition identification result and the third road condition identification result to determine a road condition state;
wherein, the road conditions state includes: the road condition that no vehicle or pedestrian passes through the door opening area is normal in the future preset time, and the road condition that the vehicle or pedestrian passes through the door opening area is abnormal in the future preset time.
By adopting the technical scheme, the invention is provided with a plurality of sensing devices which are respectively arranged on each door of the automobile in a one-to-one correspondence manner and are used for sensing the door opening action of drivers and passengers; the detection devices are used for detecting road conditions behind the automobile door; the controller is respectively electrically connected with the sensing device and the detection device and alarms through the alarm device. When the controller senses the door opening action of the driver and the passengers through the sensing device, the road condition of the side rear part corresponding to the vehicle door is detected through the detection device; when the road condition is abnormal, the alarm device gives an alarm to remind the driver and the passengers in time, and accidents caused by sudden opening of the door when the driver and the passengers do not confirm rear vehicles and pedestrians are avoided. The invention can predict the movement of the rear vehicle and the pedestrian before opening the door, thereby further improving the safety of opening the door. The invention adds the vehicle door locking device to limit the maximum opening range of the vehicle door which can be opened, and improves the safety of opening the door. The invention also adds an automatic closing device which drives the car door to automatically close when the car door is not closed, so that the car door is more convenient and safer to close when the car runs.
Drawings
FIG. 1 is a schematic block diagram of an automatic door opening and closing sensing system of an automobile according to the present invention;
fig. 2 is an installation schematic diagram of the detection device of the automatic induction system for opening and closing the door of the automobile.
Detailed Description
In order that the present invention may be more readily and clearly understood, a more particular description of the invention briefly described above will be rendered by reference to specific embodiments that are illustrated in the appended drawings.
Example one
As shown in fig. 1, an automatic door opening and closing sensing system for a vehicle includes:
the induction devices are respectively arranged on each door of the automobile and are used for inducing the door opening action of drivers and passengers;
the detection device is used for detecting the road condition behind the side of the vehicle door;
the controller is used for receiving and processing door opening action signals of the sensing device and road condition information of the detection device;
and the alarm device is electrically connected with the controller and is used for receiving the alarm instruction of the controller and giving an alarm.
When the controller senses the door opening action of the driver and the passengers through the sensing device, the road condition of the side rear part corresponding to the vehicle door provided with the sensing device is detected through the detection device. When the road condition is abnormal, an alarm instruction is sent to the alarm device, and the alarm device gives an alarm.
The sensing system in the embodiment further comprises a vehicle door locking device, the vehicle door locking device is electrically connected with the controller and used for limiting the maximum opening range of the vehicle door, the vehicle door locking device comprises a door blocking body and a telescopic mechanism fixedly connected with the door blocking body, and the door blocking body is arranged at the hinged position of the vehicle door and the vehicle body.
The controller performs the following operations:
detecting the road condition of the side rear part corresponding to the vehicle door arranged on the sensing device through the detection device;
analyzing the road condition, and determining the motion state of pedestrians or vehicles behind the current vehicle door;
predicting the motion trail of the pedestrian or the vehicle based on the motion state and a preset motion model;
determining the shortest distance between the pedestrian or the vehicle and the vehicle door based on the motion trail;
determining the allowable maximum door opening amplitude of the located vehicle door based on the nearest distance;
and controlling the telescopic mechanism to perform telescopic action based on the maximum door opening amplitude.
When the driver and the passenger cannot correctly understand the alarm condition of the alarm device, the controller can limit the maximum door opening amplitude of the door which can be opened through the door locking device, so that the driver and the passenger cannot open the door to the extent of threatening pedestrians or vehicles behind the vehicle; and controlling the telescopic mechanism to perform telescopic action based on the maximum opening amplitude, wherein the door blocking body abuts against the vehicle door at the hinged position of the vehicle door to control the maximum opening amplitude of the vehicle door at the moment, and the opening and closing amplitude of the vehicle door is related to the position of the door blocking body. The controller 3 controls the extension/contraction mechanism to extend when the second sensor detects the switch operation outside the vehicle within a preset first time when the first sensor detects the switch operation when the driver and the passenger get off the vehicle from the inside of the vehicle; when the person in the vehicle gets off the vehicle, the person outside the vehicle pulls the vehicle door, the scene which is possible to happen at the moment pulls the vehicle door open at the time when the person in the vehicle gets off the vehicle, and then the person in the vehicle is threatened.
The induction system in this example still includes the automatic device that closes, closes tightly automatically and be connected with the controller electricity, closes tightly automatically and install and be used for driving door self-closing when the door is not closed, closes tightly automatically and install and include:
the first mounting groove is arranged on a door frame of an automobile and is an open groove body;
the rotating motor is fixedly connected with the automobile body;
the hook-shaped body is fixedly arranged on a rotating shaft of the rotating motor;
the second mounting groove is arranged on the side surface of the vehicle door and corresponds to the first mounting groove;
the two ends of the connecting column are respectively and fixedly arranged on the two side walls of the second mounting groove.
The controller performs the following operations:
detecting the opening amplitude of the vehicle door through a fourth sensor;
when the door opening amplitude is changed from more than or equal to a preset door opening judgment value to less than or equal to a preset door closing judgment value and the state of the vehicle door is detected to be not closed through the third sensor, the rotating motor is controlled to act, the hook body is driven to rotate in the first mounting groove, the hook body hooks the connecting column in the rotating process, and then the vehicle door is driven to be closed.
The automatic closing device is mainly applied to a scene that the door is not closed by force when the door is closed, so that the phenomenon that the driver and passengers need to open the door and then close the door again is avoided; judging whether the vehicle door is in a closed state or not according to the change of the door opening amplitude and the vehicle door state detected by the third sensor; here, it is to be noted that the door closing determination value is not a determination value for determining whether or not the door is closed, but a determination value for determining whether or not an automatic closing operation is possible; that is, the automatic tightening device can only realize the operation of tightening the vehicle door in a relay manner when the door opening amplitude is reduced to the door closing judgment value.
The sensing device in this example includes:
the first sensor is arranged on a handle at the inner side of the vehicle door and is used for detecting the door opening and closing actions of a driver and a passenger when the driver and the passenger get off the vehicle from the inside of the vehicle;
the second sensor is arranged on the handle at the outer side of the vehicle door and is used for detecting the door opening and closing actions of a driver and a passenger when the driver gets on the vehicle from the outside of the vehicle;
the third sensor is arranged on the door frame and used for detecting the closed or non-closed state of the door;
and the fourth sensor is arranged at the hinged position of the vehicle door and the vehicle body and is used for detecting the opening amplitude of the vehicle door.
In order to accurately judge the door opening and closing actions of the driver and the passenger, the door opening and closing actions can be judged through the cooperation of the first sensor, the second sensor and the third sensor, for example: when the third sensor determines that the current state of the vehicle door is closed, the second sensor detects that the driver places the hands on the outside handle of the vehicle door, and then the third sensor detects that the state of the vehicle door is not closed or the fourth sensor detects that the opening amplitude is gradually increased, the door opening action of the driver from the outside of the vehicle door is determined. When the third sensor determines that the current state of the vehicle door is closed, the first sensor detects that the driver and the passenger place the hands on the handle on the inner side of the vehicle door, and then the third sensor detects that the state of the vehicle door is not closed or the fourth sensor detects that the door opening amplitude is gradually increased, the door opening action of the driver and the passenger from the inside of the vehicle is determined. The first sensor and the second sensor can adopt pressure sensors or touch switches; the third sensor may employ a contact switch; the fourth sensor can adopt an encoder for measuring the rotation angle, is arranged at the hinged part of the vehicle door and the vehicle body, and calculates the door opening amplitude of the vehicle door according to the parameters of the vehicle door by detecting the rotation angle of the vehicle door.
As shown in fig. 2, the detection device in this example includes:
the first camera unit P1 is arranged on the side surface, close to the tail end, of the automobile door, and is used for taking a first picture behind the automobile when the automobile door is opened;
the second camera unit P2 is arranged at the two sides of the tail of the automobile and used for taking a second picture of the back of the automobile when the automobile door is opened;
and the third camera unit P3 and the third camera unit P3 are arranged at positions between the side doors and the tail of the automobile and are used for taking a third picture of the side of the automobile when the automobile doors are opened.
The detection device mainly comprises three units, wherein a first camera unit P1 is arranged on the side surface of the automobile door close to the tail of the automobile and can shoot a rear picture after the automobile door is opened for a certain opening range; the second camera units P2 are arranged at two sides of the tail of the automobile and can directly shoot pictures at the back of the tail of the automobile; the third camera unit P3 is disposed between the side door and the rear of the vehicle, and can directly capture images of both sides of the vehicle.
The automatic induction system for opening and closing the automobile door identifies the first picture, the second picture and the third picture through an image identification technology, and can determine the number, the moving speed and the vertical distance from the side face of the automobile body of pedestrians or vehicles behind the automobile door; although the vehicle condition behind the vehicle can be confirmed only by the first picture or the second picture, the combination of the first picture, the second picture, and the third picture can improve the accuracy of vehicle condition confirmation and prevent the first camera unit P1 or the second camera unit P2 from being inoperative due to an unexpected malfunction. In the specific determination process, the number of pedestrians or vehicles behind the vehicle door is determined, and the number of pedestrians or vehicles can be obtained only by carrying out contour extraction on the first picture, the second picture and the third picture and then matching the first picture, the second picture and the third picture with a preset human body or vehicle model; the determination of the moving speed is calculated according to the change of the distance of the same individual on two continuous frames of pictures; the vertical distance from the side face of the vehicle body can be determined by firstly determining the distance between a pedestrian or a vehicle behind the vehicle, then determining a corresponding reference line on the picture when the side face of the vehicle is at the distance based on the distance, and determining the vertical distance according to the picture distance from the reference line on the picture to a new person or vehicle and the distance between the pedestrian or the vehicle behind the vehicle; the vertical distance can be considered as the shortest distance from the vehicle body when the vehicle or a new person behind the vehicle moves to the side of the vehicle.
The controller judges according to the number, the moving speed and the vertical distance from the side face of the vehicle body of pedestrians or vehicles behind the vehicle door and judges whether the road condition is abnormal or not; the traffic abnormality defined in this embodiment mainly includes: the number of pedestrians or vehicles behind the vehicle door is excessive, namely the number is larger than a preset number value; further, the preset number values of the pedestrian and the vehicle may be set separately, for example: when the number of pedestrians is more than 20, the number of bicycles/electric vehicles is more than 10, and the number of automobiles is more than 5. Secondly, the moving speed of the vehicle or the pedestrian behind the vehicle is overlarge, namely the moving speed is larger than a preset speed value; and thirdly, the vertical distance between the pedestrian or the vehicle behind the vehicle and the side face of the vehicle body is smaller than a preset distance value, and the preset distance value can be the distance between the tail end of the vehicle door and the side face of the vehicle body after the vehicle door is opened.
Example two
A control method of an automatic induction system for opening and closing a door of an automobile comprises the following steps:
when the door opening action is detected through the first sensor or the second sensor, the controller activates the fourth sensor, and the door opening amplitude is detected through the fourth sensor;
when the door opening amplitude is larger than the preset activation amplitude, the controller activates the first camera shooting unit P1 to obtain a first picture;
identifying the first picture based on an image identification technology, and judging whether an object blocks the view of the first camera unit P1;
when there is an object obstructing the view of the first camera element P1, the second camera element P2 and the third camera element P3 are activated;
acquiring a second picture and a third picture through a second camera unit P2 and a third camera unit P3, analyzing the second picture and the third picture, determining the number, the moving speed and the vertical distance from the side face of the vehicle body of pedestrians or vehicles behind the vehicle door, and determining that the road condition is abnormal when the number is greater than a preset number value and/or the moving speed is greater than a preset speed value and/or the vertical distance is less than a preset distance value;
when no object blocks the visual field of the first camera unit P1, the first picture is analyzed, the number, the moving speed and the vertical distance from the side face of the vehicle body of pedestrians or vehicles behind the vehicle door are determined, and when the number is larger than a preset number value and/or the moving speed is larger than a preset speed value and/or the vertical distance is smaller than a preset distance value, the road condition is determined to be abnormal.
In order to reduce power consumption of the system, the first, second, and third camera units P1, P2, and P3 may be activated in a conditionally activated mode; the first camera unit P1 is arranged at the side of the door, so that only when the door opening width of the door is larger than a certain value, the first camera unit P1 is exposed, and the picture can be shot by the first camera unit P1; when the driver opens the door outside the vehicle, the driver and the passenger can block the view of the first camera unit P1, and at the moment, the second camera unit P2 and the third camera unit P3 need to be triggered to shoot.
In addition, when no pedestrian or vehicle appears in the opening area of the automobile door, the controller senses the door opening action of the driver and the passenger;
acquiring a first picture through a first camera unit P1, inputting the first picture into a preset first neural network model, and acquiring a first road condition identification result;
acquiring a second picture through a second camera unit P2, inputting the second picture into a preset second neural network model, and acquiring a second road condition identification result;
a third picture is obtained through a third camera unit P3, and the third picture is input into a preset third neural network model to obtain a third road condition identification result;
integrating the first road condition identification result, the second road condition identification result and the third road condition identification result to determine the road condition state;
wherein, the road conditions state includes: the road condition that no vehicle or pedestrian passes through the door opening area is normal in the future preset time, and the road condition that the vehicle or pedestrian passes through the door opening area is abnormal in the future preset time.
Acquiring a first picture by a first camera unit P1; inputting the first picture into a preset first neural network model to obtain a first road condition identification result; inputting a plurality of continuous frames of pictures into a preset neural network model to determine whether pedestrians or vehicles in the pictures pass through a dangerous area where a vehicle door opens a vehicle; when the first road condition identification result exists, the first road condition identification result is that the road condition is abnormal, and when the first road condition identification result does not exist, the first road condition identification result is that the road condition is normal; by analogy, the generation principle of the second road condition identification result and the third road condition identification result and the first road condition identification result is always the same, namely the models are different in parameters, and the difference of the models mainly results from the difference of the shooting angles and the shooting areas of the first picture, the second picture and the third picture; integrating the first road condition identification result, the second road condition identification result and the third road condition identification result to determine the road condition state; when the first road condition identification result, the second road condition identification result and the third road condition identification result are all normal road conditions, the last road condition state is normal road conditions; and when one of the first road condition identification result, the second road condition identification result and the third road condition identification result is the road condition abnormity, the last road condition state is the road condition abnormity. The first neural network model, the second neural network model and the third neural network model are obtained by training convergence based on a large amount of data in advance.
The above embodiments are described in further detail to solve the technical problems, technical solutions and advantages of the present invention, and it should be understood that the above embodiments are only examples of the present invention and are not intended to limit the present invention, and any modifications, equivalent substitutions, improvements and the like made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (7)
1. An automobile door opening and closing automatic induction system is characterized by comprising:
the induction devices are respectively arranged on each door of the automobile and used for inducing the door opening action of drivers and passengers;
the detection device is used for detecting the road condition behind the side of the vehicle door;
the controller is used for receiving and processing door opening action signals of the induction device and road condition information of the detection device;
and the alarm device is electrically connected with the controller and is used for receiving an alarm instruction of the controller and giving an alarm.
2. The automatic induction system for opening and closing the door of the automobile as claimed in claim 1, wherein: the automobile door locking device is electrically connected with the controller and used for limiting the maximum opening range of an automobile door, the automobile door locking device comprises a door blocking body and a telescopic mechanism fixedly connected with the door blocking body, and the door blocking body is arranged at the hinged position of the automobile door and an automobile body.
3. The automatic induction system for opening and closing the door of the automobile as claimed in claim 1, comprising an automatic closing device, wherein the automatic closing device is electrically connected with the controller, the automatic closing device is used for driving the automobile door to automatically close when the automobile door is not closed, and the automatic closing device comprises:
the first mounting groove is arranged on a door frame of an automobile and is an open groove body;
the rotating motor is fixedly connected with the automobile body;
the hook-shaped body is fixedly arranged on a rotating shaft of the rotating motor;
the second mounting groove is arranged on the side surface of the vehicle door and corresponds to the first mounting groove;
and the two ends of the connecting column are respectively and fixedly arranged on two side walls of the second mounting groove.
4. The automatic door opening and closing sensing system of the automobile as claimed in claim 1, wherein the sensing means comprises:
the first sensor is arranged on a handle at the inner side of the vehicle door and is used for detecting the door opening and closing actions of a driver and a passenger when the driver and the passenger get off the vehicle from the inside of the vehicle;
the second sensor is arranged on the handle at the outer side of the vehicle door and is used for detecting the door opening and closing actions of a driver and a passenger when the driver gets on the vehicle from the outside of the vehicle;
a third sensor provided on a door frame for detecting a closed or an unclosed state of a door;
and the fourth sensor is arranged at the hinged position of the vehicle door and the vehicle body and is used for detecting the opening amplitude of the vehicle door.
5. The system as claimed in claim 1, wherein the detecting means comprises:
the first camera unit is arranged on the side surface, close to the tail, of the automobile door and used for taking a first picture behind the automobile when the automobile door is opened;
the second camera units are arranged at two sides of the tail of the automobile and are used for shooting a second picture behind the automobile when the automobile door is opened;
and the third camera shooting unit is arranged between the side door and the tail of the automobile and is used for shooting a third picture of the side of the automobile when the automobile door is opened.
6. A control method of an automatic door opening and closing sensing system for a vehicle according to any one of claims 1 to 5, comprising:
when the door opening action is detected through the first sensor or the second sensor, the controller activates the fourth sensor, and the door opening amplitude is detected through the fourth sensor;
when the door opening amplitude is larger than a preset activation amplitude, the controller activates the first camera unit to acquire a first picture;
identifying the first picture based on an image identification technology, and judging whether an object blocks the view of the first camera unit;
when an object blocks the view of the first camera shooting unit, activating the second camera shooting unit and the third camera shooting unit;
acquiring a second picture and a third picture through the second camera unit and the third camera unit, analyzing the second picture and the third picture, determining the number, the moving speed and the vertical distance from the side face of the vehicle body of pedestrians or vehicles behind the vehicle door, and determining that the road condition is abnormal when the number is greater than a preset number value and/or the moving speed is greater than a preset speed value and/or the vertical distance is less than a preset distance value;
when no object blocks the visual field of the first camera unit, the first picture is analyzed, the number, the moving speed and the vertical distance from the side face of the vehicle body of pedestrians or vehicles behind the vehicle door are determined, and when the number is larger than a preset number value and/or the moving speed is larger than a preset speed value and/or the vertical distance is smaller than a preset distance value, the road condition is determined to be abnormal.
7. The control method of the automatic door opening and closing sensing system of the automobile as claimed in claim 6, comprising:
when no pedestrian or vehicle appears in the opening area of the automobile door, the controller senses the door opening action of the driver and the passenger;
acquiring a first picture through the first camera unit, inputting the first picture into a preset first neural network model, and acquiring a first road condition identification result;
acquiring a second picture through the second camera unit, inputting the second picture into a preset second neural network model, and acquiring a second road condition identification result;
acquiring a third picture through the third camera unit, inputting the third picture into a preset third neural network model, and acquiring a third road condition identification result;
integrating the first road condition identification result, the second road condition identification result and the third road condition identification result to determine a road condition state;
wherein, the road conditions state includes: the road condition that no vehicle or pedestrian passes through the door opening area is normal in the future preset time, and the road condition that the vehicle or pedestrian passes through the door opening area is abnormal in the future preset time.
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| CN202110096477.4A CN112925241A (en) | 2021-01-25 | 2021-01-25 | Automatic response system for opening and closing automobile door and control method |
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| CN202110096477.4A CN112925241A (en) | 2021-01-25 | 2021-01-25 | Automatic response system for opening and closing automobile door and control method |
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